From 9fb178b32a94598761aba117b91f804f60963d12 Mon Sep 17 00:00:00 2001 From: FarkasJoseph <16584585+FarkasJoseph@users.noreply.github.com> Date: Sun, 21 Sep 2025 20:01:21 -0400 Subject: [PATCH] double wall spacing --- src/rj_strategy/src/agent/position/waller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rj_strategy/src/agent/position/waller.cpp b/src/rj_strategy/src/agent/position/waller.cpp index 76f364a346..ed713f812a 100644 --- a/src/rj_strategy/src/agent/position/waller.cpp +++ b/src/rj_strategy/src/agent/position/waller.cpp @@ -35,7 +35,7 @@ std::optional Waller::get_task(RobotIntent intent, const WorldState // Find target Point rj_geometry::Point mid_point{(goal_pos) + (ball_dir_vector * min_wall_rad)}; - auto wall_spacing = kRobotDiameterMultiplier * kRobotDiameter + kBallRadius; + auto wall_spacing = (kRobotDiameterMultiplier * kRobotDiameter + kBallRadius) * 2; rj_geometry::Point target_point{}; auto angle = (mid_point - goal_pos).angle();